Vehicular vision system with electronic control unit

ABSTRACT

A vehicular vision system includes an electronic control unit having at least four coaxial connectors. At least four coaxial cables are electrically connected at respective coaxial connectors of the electronic control unit and respective cameras of at least four cameras. Each of the coaxial cables carries DC power from the electronic control unit to the respective camera. Each of the coaxial cables carries image data captured by an imager of the respective camera to the electronic control unit. Image data carried to the electronic control unit is processed at the electronic control unit by a processor of the electronic control unit. Each of the coaxial cables provides monodirectional data transfer of captured image data from the respective camera to the electronic control unit. Each of the coaxial cables provides bidirectional data transfer of other data between the respective camera and the electronic control unit.

CROSS REFERENCE TO RELATED APPLICATIONS

The present application is a continuation of U.S. patent application Ser. No. 14/195,136, filed Mar. 3, 2014, now U.S. Pat. No. 10,057,544, which claims the filing benefits of U.S. provisional application Ser. No. 61/772,015, filed Mar. 4, 2013, which is hereby incorporated herein by reference in its entirety.

FIELD OF THE INVENTION

The present invention relates to imaging systems or vision systems for vehicles.

BACKGROUND OF THE INVENTION

Use of imaging sensors in vehicle imaging systems is common and known. Examples of such known systems are described in U.S. Pat. Nos. 5,949,331; 5,670,935 and/or 5,550,677, which are hereby incorporated herein by reference in their entireties.

SUMMARY OF THE INVENTION

The present invention provides a vision system or imaging system for a vehicle that utilizes one or more cameras to capture images exterior of the vehicle, and provides the communication/data signals, including camera data or image data that may be displayed or processed to provide the desired display images and/or processing and control, depending on the particular application of the camera and vision or imaging system.

The present invention provides a vision system that comprises an imager for an automotive camera that has integrated physical layer components. The present invention provides image data transfer to remote image processing devices, such as to a compartment display, head unit or ECU/MCU. The data transfer system of the present invention may use one differential data line (such as via low-voltage differential signaling or LVDS), which may be bidirectional, whereby the back channel is used for control. Optionally, a monodirectional LVDS interface may be used, whereby the control channel may be embodied by a separate camera communication interface.

These and other objects, advantages, purposes and features of the present invention will become apparent upon review of the following specification in conjunction with the drawings.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a plan view of a vehicle with a vision system and imaging sensors or cameras that provide exterior fields of view in accordance with the present invention;

FIGS. 2A and 2B are schematics of vision system wiring connections between an imager and a processor or data receiving device comprising a twisted wire connection in accordance with the present invention;

FIGS. 3A and 3B are schematics of other vision system wiring connections between an imager and a processor or data receiving device comprising a twisted wire connection in accordance with the present invention;

FIGS. 4A and 4B are schematics of vision system wiring connections between an imager and a processor or data receiving device comprising a coaxial cable connection in accordance with the present invention;

FIGS. 5A and 5B are schematics of other vision system wiring connections between an imager and a processor or data receiving device comprising a coaxial cable connection in accordance with the present invention;

FIGS. 6A and 6B are schematics of other vision system wiring connections between an imager and a processor or data receiving device comprising a coaxial cable connection in accordance with the present invention;

FIGS. 7A and 7B are schematics of other vision system wiring connections between an imager and a processor or data receiving device comprising a coaxial cable connection in accordance with the present invention; and

FIGS. 8A and 8B are schematics of other vision system wiring connections between an imager and a processor or data receiving device comprising a coaxial cable connection in accordance with the present invention.

DESCRIPTION OF THE PREFERRED EMBODIMENTS

A driver assist system and/or vision system and/or object detection system and/or alert system may operate to capture images exterior of the vehicle and process the captured image data to detect objects at or near the vehicle and in the predicted path of the vehicle, such as to assist a driver of the vehicle in maneuvering the vehicle in a rearward direction. The object detection may utilize detection and analysis of moving vectors representative of objects detected in the field of view of the vehicle camera, in order to determine which detected objects are objects of interest to the driver of the vehicle, such as when the driver of the vehicle undertakes a reversing maneuver.

Referring now to the drawings and the illustrative embodiments depicted therein, a vehicle 10 includes an imaging system or vision system 12 that includes one or more imaging sensors or cameras (such as a rearward facing imaging sensor or camera 14 a and/or a forwardly facing camera 14 b at the front (or at the windshield) of the vehicle, and/or a sidewardly/rearwardly facing camera 14 c, 14 b at the sides of the vehicle), which capture images exterior of the vehicle, with the cameras having a lens for focusing images at or onto an imaging array or imaging plane of the camera (FIG. 1). The vision system 12 is operable to process image data captured by the cameras and may provide displayed images at a display device 16 for viewing by the driver of the vehicle. Optionally, the vision system may process image data to detect objects, such as objects to the rear of the subject or equipped vehicle during a reversing maneuver, or such as approaching or following vehicles or vehicles at a side lane adjacent to the subject or equipped vehicle or the like.

Automotive cameras use data transfer interfaces that may be integrated in the camera's PCB circuits for communicating to devices or components of a vehicle vision system that are exterior or remote from the camera. Such automotive cameras do not use data transfer interfaces that are integrated in or to the camera's imager or imaging array for communicating to devices or components of a vehicle vision system that are exterior or remote from the camera. As described in International Publication No. WO 2013/081985, which is hereby incorporated herein by reference in its entirety, suggests to use imager integrated data decoders and drivers for image data transfer.

There are several Camera Serial Interface standards from the MIPI Alliance. The latest Standard is CSI-3 besides CSI-1 and CSI-2. All are meant for transfer of image data over short distances such as across a PCB. A typical use case is to interconnect a mobile phone camera with the mobile phone image data engine across a mobile phones PCB lines. Data lines and clock signals are typically mono directional, and the CCI control link works bidirectional. That means that most of the data are flowing from the imager to the data engine. The data rate is specified to be from 1 Gbps up to 6 Gbps. See, for example, the Camera Interface Specifications on the MIPI Alliance® website:

-   [http://www.mipi.org/specifications/camera-interface#CSI3].

The present invention utilizes, but is not limited to, an imager-based MIPI D-PHY or M-PHY (and parts of CSI x) for automotive camera image data transfer to remote image processing devices, such as to a compartment display, compartment projector, head unit or ECU/MCU. MIPI is an interconnect protocol offering several key advantages: strong modularity allowing minimizing power but also reaching high bandwidth when necessary (such as 6 Gbps, or 12 Gbps or the like), a guaranteed interoperability between an Application Processor and peripheral IC corning from different sources (such as camera controllers (CMOS image sensors), display controller, RF modern, audio codec and the like). WI is a bi-directional high speed serial differential signaling protocol, power consumption optimized and dedicated to mobile devices, and can be used to interface chips within the system, at the board level It uses a controller (digital) and a mixed signal PHY. The D-PHY technology uses, for example, two clock wires per direction plus two signal wires per lane and per direction. For example a D-PHY might use two wires for the clock and four wires (two lanes) for the data in the forward direction, but two wires for the clock and six wires (three lanes) for the data in the reverse direction. Data traffic in the forward and reverse directions are totally independent at this level of the protocol stack. The preferred solution may use one differential data line (LVDS), which may be bidirectional. The back channel is used for control. Optionally, a monodirectional LVDS interface may be used, whereby the control channel may be embodied by a separate camera communication interface, such as a I2C, UART, LIN, CAN or SPI interface or the like. Optionally, a LVDS converter may come into use. As an alternative option, there may be an optical data line in use and having electrical to optical signal converters (sending node) and optical to electrical signal converters (receiving node), such as described, for example, on Meticom's website: http://www.meticom.com/page3/page31/DPHY_to_Optics.html.

In either case, the imager may have an additional logic for coping with the prolonged line length by using error correction, error and link status checking and for encoding the image data stream in a DC-balanced format (such as, for example, 8b10b encoding), either with or without additional parity or error correction information. The preferred embodiment of the image data receiving device may be a Field-Programmable Gate Array (FPGA) comprising a multi standard (multiple protocols, multiple voltages, multiple (en-)coding schemes) PHY and parity processing logic (beside other functions). Optionally, error correction and/or error and link status checking may be done on the multi standard PHY side. Optionally, the present invention may use shielded (STP) or unshielded (UTP) twisted pair lines (such as shown in FIGS. 2A, 2B, 3A and 3B) or coaxial cable for transferring LVDS (such as shown in the embodiments of FIGS. 4A, 4B, 5A, 5B, 6A, 6B, 7A, 7B, 8A and 8B). Optionally, the camera's DC power supply may run over the same lines as the LVDS provided by the image receiving device, such as by utilizing aspects of the systems described in International Publication No. WO 2013/043661, which is hereby incorporated herein by reference in its entirety.

Optionally, the signal may be modulated to and transferred via an analog carrier wave by any kind of signal modulation (AM, FM, QAM or the like). The modulator may be a frequency adder (or mixer), and the demodulation at the corresponding other end may be a frequency filter, such as by utilizing aspects of the systems described in U.S. provisional application Ser. No. 61/833,080, filed Jun. 10, 2013, which is hereby incorporated herein by reference in its entirety. Also, as such as described in U.S. provisional application Ser. No. 61/833,080, the data line may comprise a coaxial cable. Optionally, the same cable may carry also DC power (supply). Optionally, there may be one or two carrier each for each MIPI D-PHY signal of optionally one imager each or several multiplexed to less carriers or bandwidths (time-division multiplex, space-division multiplex, frequency-division multiplex).

The system may find use of aspects described in International Publication No. WO 2013/081985 (which is hereby incorporated herein by reference in its entirety), suggesting several combinations of video data and camera control linking in between cameras, head units, bus gate way nodes, image processing ECUs and/or auxiliary devices such as like smart phones or the like.

The system includes an image processor operable to process image data captured by the camera or cameras, such as for detecting objects or other vehicles or pedestrians or the like in the field of view of one or more of the cameras. For example, the image processor may comprise an EyeQ2 or EyeQ3 image processing chip available from Mobileye Vision Technologies Ltd. of Jerusalem, Israel, and may include object detection software (such as the types described in U.S. Pat. Nos. 7,855,755; 7,720,580 and/or 7,038,577, which are hereby incorporated herein by reference in their entireties), and may analyze image data to detect vehicles and/or other objects. Responsive to such image processing, and when an object or other vehicle is detected, the system may generate an alert to the driver of the vehicle and/or may generate an overlay at the displayed image to highlight or enhance display of the detected object or vehicle, in order to enhance the driver's awareness of the detected object or vehicle or hazardous condition during a driving maneuver of the equipped vehicle.

The camera or sensor may comprise any suitable camera or sensor. Optionally, the camera may comprise a “smart camera” that includes the imaging sensor array and associated circuitry and image processing circuitry and electrical connectors and the like as part of a camera module, such as by utilizing aspects of the vision systems described in International Publication Nos. WO 2013/081984 and/or WO 2013/081985, which are hereby incorporated herein by reference in their entireties.

The vehicle may include any type of sensor or sensors, such as imaging sensors or radar sensors or lidar sensors or ladar sensors or ultrasonic sensors or the like. The imaging sensor or camera may capture image data for image processing and may comprise any suitable camera or sensing device, such as, for example, a two dimensional array of a plurality of photosensor elements arranged in at least 640 columns and 480 rows (at least a 640×480 imaging array, such as a megapixel imaging array or the like), with a respective lens focusing images onto respective portions of the array. The photosensor array may comprise a plurality of photosensor elements arranged in a photosensor array having rows and columns. Preferably, the imaging array has at least 300,000 photosensor elements or pixels, more preferably at least 500,000 photosensor elements or pixels and more preferably at least 1 million photosensor elements or pixels. The imaging array may capture color image data, such as via spectral filtering at the array, such as via an RGB (red, green and blue) filter or via a red/red complement filter or such as via an RCC (red, clear, clear) filter or the like. The logic and control circuit of the imaging sensor may function in any known manner, and the image processing and algorithmic processing may comprise any suitable means for processing the images and/or image data.

For example, the vision system and/or processing and/or camera and/or circuitry may utilize aspects described in U.S. Pat. Nos. 7,005,974; 5,760,962; 5,877,897; 5,796,094; 5,949,331; 6,222,447; 6,302,545; 6,396,397; 6,498,620; 6,523,964; 6,611,202; 6,201,642; 6,690,268; 6,717,610; 6,757,109; 6,802,617; 6,806,452; 6,822,563; 6,891,563; 6,946,978; 7,859,565; 5,550,677; 5,670,935; 6,636,258; 7,145,519; 7,161,616; 7,230,640; 7,248,283; 7,295,229; 7,301,466; 7,592,928; 7,881,496; 7,720,580; 7,038,577; 6,882,287; 5,929,786 and/or 5,786,772, and/or International Publication Nos. WO 2011/028686; WO 2010/099416; WO 2012/061567; WO 2012/068331; WO 2012/075250; WO 2012/103193; WO 2012/0116043; WO 2012/0145313; WO 2012/0145501; WO 2012/145818; WO 2012/145822; WO 2012/158167; WO 2012/075250; WO 2012/0116043; WO 2012/0145501; WO 2012/154919; WO 2013/019707; WO 2013/016409; WO 2013/019795; WO 2013/067083; WO 2013/070539; WO 2013/043661; WO 2013/048994; WO 2013/063014, WO 2013/081984; WO 2013/081985; WO 2013/074604; WO 2013/086249; WO 2013/103548; WO 2013/109869; WO 2013/123161; WO 2013/126715; WO 2013/043661 and/or WO 2013/158592, and/or U.S. patent applications, Ser. No. 14/169,329, filed Jan. 31, 2014, and published on Aug. 7, 2014 as U.S. patent publication No. US-2014-0218529; Ser. No. 14/169,328, filed Jan. 31, 2014, now U.S. Pat. No. 9,092,986; Ser. No. 14/163,325, filed Jan. 24, 2014, and published on Jul. 31, 2014 as U.S. patent publication No. US-2014/0211009; Ser. No. 14/159,772, filed Jan. 21, 2014, now U.S. Pat. No. 9,068,390; Ser. 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No. 13/774,315, filed Feb. 22, 2013, and published Aug. 22, 2013 as U.S. patent publication No. US-2013-0215271; Ser. No. 13/681,963, filed Nov. 20, 2012, now U.S. Pat. No. 9,264,673; Ser. No. 13/660,306, filed Oct. 25, 2012, now U.S. Pat. No. 9,146,898; Ser. No. 13/653,577, filed Oct. 17, 2012, now U.S. Pat. No. 9,174,574; and/or Ser. No. 13/534,657, filed Jun. 27, 2012, and published Jan. 3, 2013 as U.S. patent publication No. US-2013-0002873, and/or U.S. provisional applications, Ser. No. 61/935,485, filed Feb. 4, 2014; Ser. No. 61/935,057, filed Feb. 3, 2014; Ser. No. 61/935,056, filed Feb. 3, 2014; Ser. No. 61/935,055, filed Feb. 3, 2014; Ser. 61/931,811, filed Jan. 27, 2014; Ser. No. 61/919,129, filed Dec. 20, 2013; Ser. No. 61/919,130, filed Dec. 20, 2013; Ser. No. 61/919,131, filed Dec. 20, 2013; Ser. No. 61/919,147, filed Dec. 20, 2013; Ser. No. 61/919,138, filed Dec. 20, 2013, Ser. No. 61/919,133, filed Dec. 20, 2013; Ser. No. 61/918,290, filed Dec. 19, 2013; Ser. No. 61/915,218, filed Dec. 12, 2013; Ser. No. 61/912,146, filed Dec. 5, 2013; Ser. No. 61/911,666, filed Dec. 4, 2013; Ser. No. 61/911,665, filed Dec. 4, 2013; Ser. No. 61/905,461, filed Nov. 18, 2013; Ser. No. 61/905,462, filed Nov. 18, 2013; Ser. No. 61/901,127, filed Nov. 7, 2013; Ser. No. 61/895,610, filed Oct. 25, 2013; Ser. No. 61/895,609, filed Oct. 25, 2013; Ser. No. 61/879,837, filed Sep. 19, 2013; Ser. No. 61/879,835, filed Sep. 19, 2013; Ser. No. 61/878,877, filed Sep. 17, 2013; Ser. No. 61/875,351, filed Sep. 9, 2013; Ser. No. 61/869,195, filed Aug. 23, 2013; Ser. No. 61/864,835, filed Aug. 12, 2013; Ser. No. 61/864,836, filed Aug. 12, 2013; Ser. No. 61/864,837, filed Aug. 12, 2013; Ser. No. 61/864,838, filed Aug. 12, 2013; Ser. No. 61/856,843, filed Jul. 22, 2013, Ser. No. 61/845,061, filed Jul. 11, 2013; Ser. No. 61/844,630, filed Jul. 10, 2013; Ser. No. 61/844,173, filed Jul. 9, 2013; Ser. No. 61/844,171, filed Jul. 9, 2013; Ser. No. 61/842,644, filed Jul. 3, 2013; Ser. No. 61/840,542, filed Jun. 28, 2013; Ser. No. 61/838,619, filed Jun. 24, 2013; Ser. No. 61/838,621, filed Jun. 24, 2013; Ser. No. 61/837,955, filed Jun. 21, 2013; Ser. No. 61/836,900, filed Jun. 19, 2013; Ser. No. 61/836,380, filed Jun. 18, 2013; Ser. No. 61/833,080, filed Jun. 10, 2013; Ser. No. 61/830,375, filed Jun. 3, 2013; Ser. No. 61/830,377, filed Jun. 3, 2013; Ser. No. 61/825,752, filed May 21, 2013; Ser. No. 61/825,753, filed May 21, 2013; Ser. No. 61/823,648, filed May 15, 2013; Ser. No. 61/823,644, filed May 15, 2013; Ser. No. 61/821,922, filed May 10, 2013; Ser. No. 61/819,835, filed May 6, 2013; Ser. No. 61/819,033, filed May 3, 2013; Ser. No. 61/816,956, filed Apr. 29, 2013; Ser. No. 61/815,044, filed Apr. 23, 2013; Ser. No. 61/814,533, filed Apr. 22, 2013; Ser. No. 61/813,361, filed Apr. 18, 2013; Ser. No. 61/810,407, filed Apr. 10, 2013; Ser. No. 61/808,930, filed Apr. 5, 2013; Ser. No. 61/806,674, filed Mar. 29, 2013; Ser. No. 61/793,592, filed Mar. 15, 2013; Ser. No. 61/772,015, filed Mar. 4, 2013; Ser. No. 61/772,014, filed Mar. 4, 2013; Ser. No. 61/770,051, filed Feb. 27, 2013; and/or Ser. No. 61/766,883, filed Feb. 20, 2013, which are all hereby incorporated herein by reference in their entireties. The system may communicate with other communication systems via any suitable means, such as by utilizing aspects of the systems described in International Publication Nos. WO/2010/144900; WO 2013/043661 and/or WO 2013/081985, and/or U.S. patent application Ser. No. 13/202,005, filed Aug. 17, 2011, now U.S. Pat. No. 9,126,525, which are hereby incorporated herein by reference in their entireties.

The imaging device and control and image processor and any associated illumination source, if applicable, may comprise any suitable components, and may utilize aspects of the cameras and vision systems described in U.S. Pat. Nos. 5,550,677; 5,877,897; 6,498,620; 5,670,935; 5,796,094; 6,396,397; 6,806,452; 6,690,268; 7,005,974; 7,937,667; 7,123,168; 7,004,606; 6,946,978; 7,038,577; 6,353,392; 6,320,176; 6,313,454 and 6,824,281, and/or International Publication Nos. WO 2010/099416; WO 2011/028686 and/or WO 2013/016409, and/or U.S. Pat. Publication No. US 2010-0020170, and/or U.S. patent application Ser. No. 13/534,657, filed Jun. 27, 2012, and published Jan. 3, 2013 as U.S. patent publication No. US-2013-0002873, which are all hereby incorporated herein by reference in their entireties. The camera or cameras may comprise any suitable cameras or imaging sensors or camera modules, and may utilize aspects of the cameras or sensors described in U.S. patent application Ser. No. 13/260,400, filed Sep. 26, 2011, now U.S. Pat. No. 8,542,451, and/or U.S. Pat. Nos. 7,965,336 and/or 7,480,149, and/or U.S. Pat. Publication No. US-2009-0244361, which are hereby incorporated herein by reference in their entireties. The imaging array sensor may comprise any suitable sensor, and may utilize various imaging sensors or imaging array sensors or cameras or the like, such as a CMOS imaging array sensor, a CCD sensor or other sensors or the like, such as the types described in U.S. Pat. Nos. 5,550,677; 5,670,935; 5,760,962; 5,715,093; 5,877,897; 6,922,292; 6,757,109; 6,717,610; 6,590,719; 6,201,642; 6,498,620; 5,796,094; 6,097,023; 6,320,176; 6,559,435; 6,831,261; 6,806,452; 6,396,397; 6,822,563; 6,946,978; 7,339,149; 7,038,577; 7,004,606; 7,720,580 and/or 7,965,336, and/or International Publication Nos. WO/2009/036176 and/or WO/2009/046268, which are all hereby incorporated herein by reference in their entireties.

The camera module and circuit chip or board and imaging sensor may be implemented and operated in connection with various vehicular vision-based systems, and/or may be operable utilizing the principles of such other vehicular systems, such as a vehicle headlamp control system, such as the type disclosed in U.S. Pat. Nos. 5,796,094; 6,097,023; 6,320,176; 6,559,435; 6,831,261; 7,004,606; 7,339,149 and/or 7,526,103, which are all hereby incorporated herein by reference in their entireties, a rain sensor, such as the types disclosed in commonly assigned U.S. Pat. Nos. 6,353,392; 6,313,454; 6,320,176 and/or 7,480,149, which are hereby incorporated herein by reference in their entireties, a vehicle vision system, such as a forwardly, sidewardly or rearwardly directed vehicle vision system utilizing principles disclosed in U.S. Pat. Nos. 5,550,677; 5,670,935; 5,760,962; 5,877,897; 5,949,331; 6,222,447; 6,302,545; 6,396,397; 6,498,620; 6,523,964; 6,611,202; 6,201,642; 6,690,268; 6,717,610; 6,757,109; 6,802,617; 6,806,452; 6,822,563; 6,891,563; 6,946,978 and/or 7,859,565, which are all hereby incorporated herein by reference in their entireties, a trailer hitching aid or tow check system, such as the type disclosed in U.S. Pat. No. 7,005,974, which is hereby incorporated herein by reference in its entirety, a reverse or sideward imaging system, such as for a lane change assistance system or lane departure warning system or for a blind spot or object detection system, such as imaging or detection systems of the types disclosed in U.S. Pat. Nos. 7,720,580; 7,038,577; 5,929,786 and/or 5,786,772, and/or U.S. patent application Ser. No. 11/239,980, filed Sep. 30, 2005, now U.S. Pat. No. 7,881,496, and/or U.S. provisional applications, Ser. No. 60/628,709, filed Nov. 17, 2004; Ser. No. 60/614,644, filed Sep. 30, 2004; Ser. No. 60/618,686, filed Oct. 14, 2004; Ser. No. 60/638,687, filed Dec. 23, 2004, which are hereby incorporated herein by reference in their entireties, a video device for internal cabin surveillance and/or video telephone function, such as disclosed in U.S. Pat. Nos. 5,760,962; 5,877,897; 6,690,268 and/or 7,370,983, and/or U.S. Pat. Publication No. US-2006-0050018, which are hereby incorporated herein by reference in their entireties, a traffic sign recognition system, a system for determining a distance to a leading or trailing vehicle or object, such as a system utilizing the principles disclosed in U.S. Pat. Nos. 6,396,397 and/or 7,123,168, which are hereby incorporated herein by reference in their entireties, and/or the like.

Optionally, the circuit board or chip may include circuitry for the imaging array sensor and or other electronic accessories or features, such as by utilizing compass-on-a-chip or EC driver-on-a-chip technology and aspects such as described in U.S. Pat. No. 7,255,451 and/or U.S. Pat. No. 7,480,149; and/or U.S. patent application Ser. No. 12/578,732, filed Oct. 14, 2009, now U.S. Pat. No. 9,487,144, and/or U.S. Publication No. US-2006-0061008, which are hereby incorporated herein by reference in their entireties.

Optionally, the vision system may include a display for displaying images captured by one or more of the imaging sensors for viewing by the driver of the vehicle while the driver is normally operating the vehicle. Optionally, for example, the vision system may include a video display device disposed at or in the interior rearview mirror assembly of the vehicle, such as by utilizing aspects of the video mirror display systems described in U.S. Pat. No. 6,690,268 and/or U.S. patent application Ser. No. 13/333,337, filed Dec. 21, 2011, now U.S. Pat. No. 9,264,672, which are hereby incorporated herein by reference in their entireties. The video mirror display may comprise any suitable devices and systems and optionally may utilize aspects of the compass display systems described in U.S. Pat. Nos. 7,370,983; 7,329,013; 7,308,341; 7,289,037; 7,249,860; 7,004,593; 4,546,551; 5,699,044; 4,953,305; 5,576,687; 5,632,092; 5,677,851; 5,708,410; 5,737,226; 5,802,727; 5,878,370; 6,087,953; 6,173,508; 6,222,460; 6,513,252 and/or 6,642,851, and/or European patent application, published Oct. 11, 2000 under Publication No. EP 0 1043566, and/or U.S. Pat. Publication No. US-2006-0061008, which are all hereby incorporated herein by reference in their entireties. Optionally, the video mirror display screen or device may be operable to display images captured by a rearward viewing camera of the vehicle during a reversing maneuver of the vehicle (such as responsive to the vehicle gear actuator being placed in a reverse gear position or the like) to assist the driver in backing up the vehicle, and optionally may be operable to display the compass heading or directional heading character or icon when the vehicle is not undertaking a reversing maneuver, such as when the vehicle is being driven in a forward direction along a road (such as by utilizing aspects of the display system described in International Publication No. WO 2012/051500, which is hereby incorporated herein by reference in its entirety).

Optionally, the vision system (utilizing the forward facing camera and a rearward facing camera and other cameras disposed at the vehicle with exterior fields of view) may be part of or may provide a display of a top-down view or birds-eye view system of the vehicle or a surround view at the vehicle, such as by utilizing aspects of the vision systems described in International Publication Nos. WO 2010/099416; WO 2011/028686; WO 2012/075250; WO 2013/019795; WO 2012/075250; WO 2012/145822; WO 2013/081985; WO 2013/086249 and/or WO 2013/109869, and/or U.S. patent application Ser. No. 13/333,337, filed Dec. 21, 2011, now U.S. Pat. No. 9,264,672, which are hereby incorporated herein by reference in their entireties.

Optionally, a video mirror display may be disposed rearward of and behind the reflective element assembly of an interior rearview mirror assembly of the vehicle and may comprise a display such as the types disclosed in U.S. Pat. Nos. 5,530,240; 6,329,925; 7,855,755; 7,626,749; 7,581,859; 7,446,650; 7,370,983; 7,338,177; 7,274,501; 7,255,451; 7,195,381; 7,184,190; 5,668,663; 5,724,187 and/or 6,690,268, and/or in U.S. Pat. Publication Nos. US-2006-0061008 and/or US-2006-0050018, which are all hereby incorporated herein by reference in their entireties. The display is viewable through the reflective element when the display is activated to display information. The display element may be any type of display element, such as a vacuum fluorescent (VF) display element, a light emitting diode (LED) display element, such as an organic light emitting diode (OLED) or an inorganic light emitting diode, an electroluminescent (EL) display element, a liquid crystal display (LCD) element, a video screen display element or backlit thin film transistor (TFT) display element or the like, and may be operable to display various information (as discrete characters, icons or the like, or in a multi-pixel manner) to the driver of the vehicle, such as passenger side inflatable restraint (PSIR) information, tire pressure status, and/or the like. The mirror assembly and/or display may utilize aspects described in U.S. Pat. Nos. 7,184,190; 7,255,451; 7,446,924 and/or 7,338,177, which are all hereby incorporated herein by reference in their entireties. The thicknesses and materials of the coatings on the substrates of the reflective element may be selected to provide a desired color or tint to the mirror reflective element, such as a blue colored reflector, such as is known in the art and such as described in U.S. Pat. Nos. 5,910,854; 6,420,036 and/or 7,274,501, which are hereby incorporated herein by reference in their entireties.

Optionally, the display or displays and any associated user inputs may be associated with various accessories or systems, such as, for example, a tire pressure monitoring system or a passenger air bag status or a garage door opening system or a telematics system or any other accessory or system of the mirror assembly or of the vehicle or of an accessory module or console of the vehicle, such as an accessory module or console of the types described in U.S. Pat. Nos. 7,289,037; 6,877,888; 6,824,281; 6,690,268; 6,672,744; 6,386,742 and/or 6,124,886, and/or U.S. Pat. Publication No. US-2006-0050018, which are hereby incorporated herein by reference in their entireties.

Changes and modifications to the specifically described embodiments may be carried out without departing from the principles of the present invention, which is intended to be limited only by the scope of the appended claims as interpreted according to the principles of patent law. 

The invention claimed is:
 1. A vehicular vision system, said vehicular vision system comprising: an electronic control unit disposed at a vehicle equipped with said vehicular vision system; wherein said electronic control unit comprises at least four coaxial connectors; at least four cameras disposed at the equipped vehicle, each camera of said at least four cameras comprising an imager that captures image data; at least four coaxial cables, wherein each coaxial cable of said at least four coaxial cables is electrically connected at a respective coaxial connector of said at least four coaxial connectors of said electronic control unit and at a respective camera of said at least four cameras; wherein each coaxial cable of said at least four coaxial cables comprises a single core coaxial cable; wherein each coaxial cable of said at least four coaxial cables carries DC power from said electronic control unit to the respective camera of said at least four cameras; wherein each coaxial cable of said at least four coaxial cables carries image data captured by the imager of the respective camera of said at least four cameras to said electronic control unit; wherein image data carried to said electronic control unit is processed at said electronic control unit by a processor of said electronic control unit; wherein each coaxial cable of said at least four coaxial cables provides monodirectional data transfer of image data captured by the imager of the respective camera of said at least four cameras from the respective camera of said at least four cameras to said electronic control unit; and wherein each coaxial cable of said at least four coaxial cables provides bidirectional data transfer of other data between the respective camera of said at least four cameras and said electronic control unit.
 2. The vehicular vision system of claim 1, wherein said at least four cameras comprise (i) a forward-viewing camera disposed at a front portion of the equipped vehicle, (ii) a rearward-viewing camera disposed at a rear portion of the equipped vehicle, (iii) a driver side-viewing camera disposed at a driver side portion of the equipped vehicle and (iv) a passenger side-viewing camera disposed at a passenger side portion of the equipped vehicle.
 3. The vehicular vision system of claim 2, wherein transfer of captured image data to said electronic control unit from each camera of said at least four cameras is via low-voltage differential signaling.
 4. The vehicular vision system of claim 3, wherein the front portion of the equipped vehicle comprises an in-cabin side of a windshield of the equipped vehicle and wherein said forward-viewing camera views forward through the windshield.
 5. The vehicular vision system of claim 3, wherein said at least four cameras are part of a birds-eye view system of the equipped vehicle.
 6. The vehicular vision system of claim 5, wherein said rearward-viewing camera comprises a rear backup camera of the equipped vehicle.
 7. The vehicular vision system of claim 1, wherein each coaxial cable of said at least four coaxial cables used has a length, and wherein data transfer between each camera of said at least four cameras and said electronic control unit utilizes error correction to cope with the length of the respective coaxial cable used.
 8. The vehicular vision system of claim 1, wherein data transfer between each camera of said at least four cameras and said electronic control unit utilizes status checking.
 9. The vehicular vision system of claim 1, wherein data transfer between each camera of said at least four cameras and said electronic control unit comprises encoding of captured image data for communication via the respective coaxial cable.
 10. The vehicular vision system of claim 1, wherein bidirectional data transfer between each camera of said at least four cameras and said electronic control unit comprises control of the respective camera by said electronic control unit.
 11. The vehicular vision system of claim 1, wherein each coaxial cable of said at least four coaxial cables carries a back channel used for control of the imager of the respective camera of said at least four cameras.
 12. The vehicular vision system of claim 1, wherein the imager of each camera of said at least four cameras comprises at least one million photosensors arranged in a two dimensional array of photosensors having multiple rows and multiple columns, and wherein transfer of image data captured by the imager of each camera of said at least four cameras to said electronic control unit is at a data rate of at least one gigabit per second.
 13. The vehicular vision system of claim 12, wherein transfer of image data captured by the imager of each camera of said at least four cameras to said electronic control unit is at a data rate less than six gigabits per second.
 14. The vehicular vision system of claim 1, wherein each camera of said at least four cameras uses an MIPI D-PHY interface for interfacing with said electronic control unit, and wherein said electronic control unit uses an MIPI D-PHY interface for interfacing with each respective camera of said at least four cameras.
 15. The vehicular vision system of claim 1, wherein bidirectional data transfer of other data between each camera of said at least four cameras and said electronic control unit via the respective coaxial cable utilizes a bi-directional high speed serial differential signaling protocol.
 16. The vehicular vision system of claim 15, wherein each camera of said at least four cameras uses an MIPI D-PHY interface for interfacing with said electronic control unit, and wherein said electronic control unit uses an MIPI D-PHY interface for interfacing with each respective camera of said at least four cameras.
 17. The vehicular vision system of claim 16, wherein said electronic control unit comprises a multi standard transceiver.
 18. The vehicular vision system of claim 16, wherein each MIPI D-PHY interface comprises a serializer and a deserializer.
 19. The vehicular vision system of claim 1, wherein data transfer between each camera of said at least four cameras and said electronic control unit utilizes parity processing.
 20. A vehicular vision system, said vehicular vision system comprising: an electronic control unit disposed at a vehicle equipped with said vehicular vision system; wherein said electronic control unit comprises at least four coaxial connectors; at least four cameras disposed at the equipped vehicle, each camera of said at least four cameras comprising an imager that captures image data; wherein the imager of each camera of said at least four cameras comprises at least one million photosensors arranged in a two dimensional array of photosensors having multiple rows and multiple columns; at least four coaxial cables, wherein each coaxial cable of said at least four coaxial cables is electrically connected at a respective coaxial connector of said at least four coaxial connectors of said electronic control unit and at a respective camera of said at least four cameras; wherein each coaxial cable of said at least four coaxial cables comprises a single core coaxial cable; wherein each coaxial cable of said at least four coaxial cables carries DC power from said electronic control unit to the respective camera of said at least four cameras; wherein each coaxial cable of said at least four coaxial cables carries image data captured by the imager of the respective camera of said at least four cameras to said electronic control unit; wherein image data carried to said electronic control unit is processed at said electronic control unit by a processor of said electronic control unit; wherein each coaxial cable of said at least four coaxial cables provides monodirectional data transfer of image data captured by the imager of the respective camera of said at least four cameras from the respective camera of said at least four cameras to said electronic control unit; wherein transfer of image data captured by the imager of each camera of said at least four cameras to said electronic control unit is at a data rate of at least one gigabit per second; wherein each coaxial cable of said at least four coaxial cables provides bidirectional data transfer of other data between the respective camera of said at least four cameras and said electronic control unit; and wherein bidirectional data transfer between each camera of said at least four cameras and said electronic control unit comprises control of the respective camera by said electronic control unit.
 21. The vehicular vision system of claim 20, wherein transfer of captured image data to said electronic control unit from each camera of said at least four cameras is via low-voltage differential signaling.
 22. The vehicular vision system of claim 21, wherein said at least four cameras comprise (i) a forward-viewing camera disposed at a front portion of the equipped vehicle, (ii) a rearward-viewing camera disposed at a rear portion of the equipped vehicle, (iii) a driver side-viewing camera disposed at a driver side portion of the equipped vehicle and (iv) a passenger side-viewing camera disposed at a passenger side portion of the equipped vehicle.
 23. The vehicular vision system of claim 22, wherein transfer of captured image data to said electronic control unit from each camera of said at least four cameras is via low-voltage differential signaling.
 24. The vehicular vision system of claim 23, wherein transfer of image data captured by the imager of each camera of said at least four cameras to said electronic control unit is at a data rate less than six gigabits per second.
 25. The vehicular vision system of claim 22, wherein the front portion of the equipped vehicle comprises an in-cabin side of a windshield of the equipped vehicle, and wherein said forward-viewing camera views forward through the windshield.
 26. The vehicular vision system of claim 22, wherein said at least four cameras are part of a birds-eye view system of the equipped vehicle, and wherein said rearward-viewing camera comprises a rear backup camera of the equipped vehicle.
 27. A vehicular vision system, said vehicular vision system comprising: an electronic control unit disposed at a vehicle equipped with said vehicular vision system; wherein said electronic control unit comprises at least four coaxial connectors; at least four cameras disposed at the equipped vehicle, each camera of said at least four cameras comprising an imager that captures image data; wherein said at least four cameras comprise (i) a forward-viewing camera disposed at a front portion of the equipped vehicle, (ii) a rearward-viewing camera disposed at a rear portion of the equipped vehicle, (iii) a driver side-viewing camera disposed at a driver side portion of the equipped vehicle and (iv) a passenger side-viewing camera disposed at a passenger side portion of the equipped vehicle; wherein the imager of each camera of said at least four cameras comprises at least one million photosensors arranged in a two dimensional array of photosensors having multiple rows and multiple columns; at least four coaxial cables, wherein each coaxial cable of said at least four coaxial cables is electrically connected at a respective coaxial connector of said at least four coaxial connectors of said electronic control unit and at a respective camera of said at least four cameras; wherein each coaxial cable of said at least four coaxial cables comprises a single core coaxial cable; wherein each coaxial cable of said at least four coaxial cables carries DC power from said electronic control unit to the respective camera of said at least four cameras; wherein each coaxial cable of said at least four coaxial cables carries image data captured by the imager of the respective camera of said at least four cameras to said electronic control unit; wherein image data carried to said electronic control unit is processed at said electronic control unit by a processor of said electronic control unit; wherein each coaxial cable of said at least four coaxial cables provides monodirectional data transfer of image data captured by the imager of the respective camera of said at least four cameras from the respective camera of said at least four cameras to said electronic control unit; wherein transfer of captured image data to said electronic control unit from each camera of said at least four cameras is via low-voltage differential signaling; wherein each coaxial cable of said at least four coaxial cables provides bidirectional data transfer of other data between the respective camera of said at least four cameras and said electronic control unit; and wherein each camera of said at least four cameras uses an MIPI D-PHY interface for interfacing with said electronic control unit, and wherein said electronic control unit uses an MIPI D-PHY interface for interfacing with each respective camera of said at least four cameras.
 28. The vehicular vision system of claim 27, wherein each coaxial cable of said at least four coaxial cables used has a length, and wherein data transfer between each camera of said at least four cameras and said electronic control unit utilizes error correction to cope with the length of the respective coaxial cable used.
 29. The vehicular vision system of claim 27, wherein bidirectional data transfer between each camera of said at least four cameras and said electronic control unit comprises control of the respective camera of said at least four cameras by said electronic control unit.
 30. The vehicular vision system of claim 29, wherein transfer of image data captured by the imager of each camera of said at least four cameras to said electronic control unit is at a data rate of at least one gigabit per second.
 31. The vehicular vision system of claim 30, wherein each MIPI D-PHY interface comprises a serializer and a deserializer.
 32. The vehicular vision system of claim 30, wherein the front portion of the equipped vehicle comprises an in-cabin side of a windshield of the equipped vehicle, and wherein said forward-viewing camera views forward through the windshield.
 33. The vehicular vision system of claim 30, wherein said at least four cameras are part of a birds-eye view system of the equipped vehicle.
 34. The vehicular vision system of claim 33, wherein said rearward-viewing camera comprises a rear backup camera of the equipped vehicle.
 35. The vehicular vision system of claim 30, wherein transfer of image data captured by the imager of each camera of said at least four cameras to said electronic control unit is at a data rate less than six gigabits per second. 